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<?xml version="1.0"?>
<root
>
<topic name="specs" type="service" description="device features" fileName="SpecsArm">
<response>
<property name="arm_type" type="uint8" unit="enum" enum='{"ARM_TYPE_CARTESIAN": 0, "ARM_TYPE_CYLIDRICAL": 1, "ARM_TYPE_SPHERICAL": 2, "ARM_TYPE_SCARA": 3, "ARM_TYPE_ARTICULATED": 4, "ARM_TYPE_PARALLEL": 5}' description="robotic arm type">
<value/>
</property>
<property name="dof" type="uint32" description="amount of degrees of freedom">
<value/>
</property>
<property name="max_payload" type="float32" unit="kilogram" description="maximum payload">
<value/>
</property>
<property name="x_axis" type="boolean" description="whether the robot can move in the x axis">
<value/>
</property>
<property name="y_axis" type="boolean" description="whether the robot can move in the y axis">
<value/>
</property>
<property name="z_axis" type="boolean" description="whether the robot can move in the z axis">
<value/>
</property>
<property name="max_x_reach" type="float32" unit="metre" description="x maximum position relative to the origin">
<value/>
</property>
<property name="max_y_reach" type="float32" unit="metre" description="y maximum position relative to the origin">
<value/>
</property>
<property name="max_z_reach" type="float32" unit="metre" description="z maximum position relative to the origin">
<value/>
</property>
</response>
</topic>
</root>
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